2 citations · 5 across the 5 of their papers we have counts for
7 papers
End-to-End Autonomous Generation of Human Assembly Plans
Faustin Arion von Arx, Millicent Schlafly, Mark D. Fuge
Turning a CAD design into an assembly plan is still largely done by hand, requiring engineers to reason about geometric feasibility, tool access, stability, and the ergonomics of h…
Stimulated emission for a three-level artificial atom in waveguide quantum electrodynamics
O. A. Chuikin, Ya. S. Greenberg, V. V. Taravkova +1
This work is devoted to a theoretical study of the interaction of a quantum three-level ladder system with a continuous electromagnetic field in a one-dimensional open waveguide. W…
Real-Time Reinforcement Learning for Dynamic Tasks with a Parallel Soft Robot
James Avtges, Jake Ketchum, Millicent Schlafly +5
Closed-loop control remains an open challenge in soft robotics. The nonlinear responses of soft actuators under dynamic loading conditions limit the use of analytic models for soft…
Force and Speed in a Soft Stewart Platform
Jake Ketchum, James Avtges, Millicent Schlafly +4
Many soft robots struggle to produce dynamic motions with fast, large displacements. We develop a parallel 6 degree-of-freedom (DoF) Stewart-Gough mechanism using Handed Shearing A…
Scale-Invariant Specifications for Human-Swarm Systems
Joel Meyer, Ahalya Prabhakar, Allison Pinosky +9
We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution through…
Ergodic Specifications for Flexible Swarm Control: From User Commands to Persistent Adaptation
Ahalya Prabhakar, Ian Abraham, Annalisa Taylor +7
This paper presents a formulation for swarm control and high-level task planning that is dynamically responsive to user commands and adaptable to environmental changes. We design a…
Shoulder abduction loading affects motor coordination in individuals with chronic stroke, informing targeted rehabilitation
Aleksandra Kalinowska, Kyra Rudy, Millicent Schlafly +3
Individuals post stroke experience motor impairments, such as loss of independent joint control, leading to an overall reduction in arm function. Their motion becomes slower and mo…